1. Download some third-party tool.
2. Connect Android and iPhone to computer.
3. Choose the contacts you like.
One quite useful tool is called Phone Transfer, which my friend told me to try it.
And I found it helpful when try it.
Here is how to use it to transfer data from android to iPhone.

Do not worry if you lost data on your Galaxy Note 5, you can recover them now, with the help of Android data recovery, you can easily recover deleted photos from Samsung Galaxy Note 5
1. run the android data recovery, connect your phone to the program
2.scan your device for the lost data
3. Preview and recover lost data from Android

As for recovering lost data on Android, you can use this android data recovery to get them back, it allows you to recover deleted photos, videos, contacts, text messages, and more
see
recover data after factory reset Samsung Galaxy S6
run the android data recovery, enable usb debugging on your device
scan your device
preview and recover lost data after factory reset your galaxy

2. Go back to Home screen, and launch Contacts App, then the contacts will be synced to Gmail.

3. Then you launch Gmail on Samsung phone and log in the same Gmail account, you will get the contacts on your Samsung phone. Or you can export the contacts to computer and then import them to your Android phone.